Macbook pro 13" compile Apollo 2.5

STEPS:

0. Install Homebrew

1.  Install 'Docker for Mac 18.03+'，配置CPUs (n个CPUs，Bazel开n个线程编译), Memory (>2G，编译最小内存，推荐4G), Swap (>2G，推荐2G)

2. git clone ... apollo ...

3. 进入apollo目录，pull docker image for apollo (首次运行会pull 5G 的images)

./docker/scripts/dev_start.sh

*注意 这里的dev_start.sh需要修改下来适配Docker for Mac特性, 需要改成手动配置端口映射：

Replace
--net host \

with bellow, both 8887 and 8888 works.
-p 8887:8887 -p 8888:8888 \

4. 进入apollo container by using

./docker/scripts/dev_into.sh

5. Docker for mac 的实现基于轻量虚拟机技术，网络和文件系统共享完善。

在container中的/apollo文件夹直接映射host中的工作文件夹./apollo

6. 编译

./apollo.sh build

(or)

./apollo.sh build_no_perception dbg

由于macbook 13" 性能不佳或者网络不好（编译中可能会下载一个小文件），编译可能中断。

直接退出后重启docker, 清空container，重启apollo container进入接着编译

Bazel会自动跳过已编译过的项目。

整个编译过程大概要~1h，需要约10G硬盘空间。

7. 编译成功后运行

./scripts/bootstrap.sh

启动

andrew@in_dev_docker:/apollo$ ./scripts/bootstrap.sh

Started supervisord with dev conf

Start roscore...

voice_detector: started

dreamview: started

Dreamview is running at http://localhost:8888

8. 在host mac上打开chrome输入地址 localhost:8888

进入dreamview前端界面

From the dropdown box selet "Navigation" mode.

9.  Replay demo rosbag

To see if the system works, use the demo 'bag' which feeds the system.

下载演示数据集 demo_2.5.bag （~约3G）

# get rosbag note that the command download is required
python ./docs/demo_guide/rosbag_helper.py demo_2.5.bag

运行演示数据集 demo_2.5.bag
# You can now replay this demo "bag" in a loop with the '-l' flag
rosbag play -l demo_2.5.bag

Dreamview should show a running vehicle now.

Comments：

1. Docker for mac的支持已经很好, mac可以用做代码编写和编译环境、模拟演示

2. 整个编译运行空间，大约需要50G +，mac ssd!，macbook 13"编译时间长

3. docker.qcow2 是docker用于存放image和container的单个文件，在docker for mac 中配置其大小最多为60G。

=============================

du -sh 查看当前文件夹大小

du -sh * | sort -n 统计当前文件夹(目录)大小，并按文件大小排序

• #!/bin/bash
• # Delete all containers
• docker rm $(docker ps -a -q)
• # Delete all images
• docker rmi $(docker images -q)

Force-remove a running container

This command will force-remove a running container.

$ docker rm --force redis r

The main process inside the container referenced under the link redis will receive SIGKILL, then the container will be removed.

Remove all stopped containers

$ docker rm $(docker ps -a -q)

This command will delete all stopped containers. The command docker ps -a -q will return all existing container IDs and pass them to the rm command which will delete them. Any running containers will not be deleted.

Remove a container and its volumes

$ docker rm -v redis redis

This command will remove the container and any volumes associated with it. Note that if a volume was specified with a name, it will not be removed.